CN107424463A - One kind parachute jumping simulation training system and parachute jumping simulated training method - Google Patents
One kind parachute jumping simulation training system and parachute jumping simulated training method Download PDFInfo
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- CN107424463A CN107424463A CN201710457900.2A CN201710457900A CN107424463A CN 107424463 A CN107424463 A CN 107424463A CN 201710457900 A CN201710457900 A CN 201710457900A CN 107424463 A CN107424463 A CN 107424463A
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- 238000012549 training Methods 0.000 title claims abstract description 74
- 238000004088 simulation Methods 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000009191 jumping Effects 0.000 title abstract description 5
- 230000000007 visual effect Effects 0.000 claims abstract description 30
- 238000011156 evaluation Methods 0.000 claims abstract description 12
- 239000000725 suspension Substances 0.000 claims abstract description 9
- 230000001133 acceleration Effects 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 230000004886 head movement Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 7
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- 238000010586 diagram Methods 0.000 description 2
- 230000009189 diving Effects 0.000 description 2
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- 230000005856 abnormality Effects 0.000 description 1
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D23/00—Training of parachutists
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Abstract
The invention discloses one kind parachute jumping simulation training system, mainly including hanger system, steerable system, innervational system, visual system, software systems, sound system, command and control system, evaluation system.In the suspension bracket and harness system of the present invention, after parachutist jumps out cabin, by manipulating band control heading, manipulate sensor and operation information is passed to computer, drive kinematic system after computing, there is provided Simulated.Simultaneously, computer export scenery picture is to head mounted display, there is provided immersive virtual environment.Teacher sets system primary condition by instructor station and each student is monitored.Present invention also offers the simulated training method using above-mentioned training equipment.Using present invention can ensure that the training of safety of parachute jumping personnel, greatly shortens cycle of training, and reduce parachuting training cost, can produce great military benefit, economic benefit and social benefit.
Description
Technical Field
The invention belongs to the technical field of virtual reality, and particularly relates to parachuting simulation training equipment and a parachuting simulation training method.
Background
Parachuting is a highly dangerous activity that occurs when special conditions arise, or when the correct procedure is not followed, the parachuting person is injured or a death accident occurs. When the practical parachute jumping training is organized, the logistics guarantee is difficult, the consumed time is large, and the cost investment is large. But also by site and meteorological conditions.
In order to improve training efficiency and reduce danger and accidents, the training of paratroopers at home and abroad is strengthened on the ground. The foreign advanced countries have conducted simulated parachuting training of people in the loop in the 90 s. Parachuting simulation training equipment can let the trainee train in virtual reality, can simulate all flows in the middle of the real parachuting completely, can guarantee parachuting personnel's training safety, shortens training cycle greatly to parachuting training cost is reduced.
The Chinese parachuting ground training mainly comprises the training of diving platforms and parachute towers, and also comprises the training of diving platform slideways, and the training means has certain gap compared with the foreign advanced countries. However, the foreign simulation training equipment has a complex structure and a too high price, and the training process is complex and tedious.
Therefore, it is imperative to develop an advanced, practical and inexpensive human-in-the-loop parachuting simulation training system and develop a corresponding parachuting simulation training method.
Disclosure of Invention
The invention aims to overcome the defects in the aspect of the conventional parachuting simulation training, provides parachuting simulation training equipment and a corresponding training method, and meets the requirements of simple structure, low price, convenience in operation and the like.
The invention provides a parachuting simulation training method and equipment, which mainly comprise a hanging bracket system, a control system, a dynamic system, a visual system, a software system, a sound system, a command control system and an evaluation system;
the hanging bracket system is connected with the support control system and the dynamic system, is an integral support structure of the parachuting simulation training system and bears the instant free falling acceleration impact overload of a parachutist;
the control system comprises a control load, a control sensor, a strap system and a control strap, and is arranged at the top of the hanger system through a connecting structure;
the dynamic system comprises a motor, a driving device and a frame structure, and the speed and the acceleration output by the motor are controlled by the computer in real time;
the visual system comprises a 3D image adapter and a helmet display;
the functions of the software system, the command control system, the evaluation system and the like are respectively completed by a computer, a computer interface and a teacher desk; the computer comprises a host computer and a graphic computer; the main computer mainly completes parachute dynamics model, motion model, teaching console control, training scoring and signal acquisition; the graphics computer mainly completes the real-time generation of the visual images.
Further, the pylon system is comprised of a main body frame and a simulated nacelle ramp.
Furthermore, the top of the main body frame is provided with an interface for installing the operating system and the moving system, and the front part of the main body frame is provided with an installation interface for monitoring the display.
Preferably, the harness system comprises two main straps and four suspension straps for fixing the parachuting trainees, and spring dampers and detectors are additionally arranged on the tops of the four suspension straps to provide damped shaking motion and detect direct manipulation of the harness by the parachutists.
As a further preferred means, the number of motors corresponds to each harness connected to the harness system.
As a preferable means, a closed-loop stepping motor is adopted, and a speed reducer with a proper speed reduction ratio is selected for matching.
Preferably, the helmet mounted display is equipped with a high precision 3-degree-of-freedom head position tracker.
The invention also provides a parachuting simulation training method, which is implemented according to the following specific operation sequence:
the trainees are hung on the rigid support, the main umbrella handle is released after queuing and taking out of the cabin, the release of the main umbrella is simulated, and the parachute is directly opened;
trainees raise heads to check the parachute opening condition, observe left and right neighbors, judge wind directions, search a landing field, and then use a control ring to control the parachute to accurately land in a landing process;
wherein,
parachute information is fed back to a visual display system, and parachute opening acceleration and landing acceleration are provided by a dynamic system;
the trainee pulls the braces or changes the gravity center, and transmits signals into a computer through a force displacement sensor;
the left and right control rings are connected with a sensor in a control load, measure the control direction and the stress condition of a parachutist and transmit signals to a main computer and a view computer;
the main computer calculates in real time according to the physical model, the dynamic model and the environmental parameters of the parachute, sends the calculation result to a driving device of the dynamic system, and drives a sling motor to rotate, so that the trainee can feel the speed and the acceleration at the moment in real time;
the head sensor tracks the head movement of the person to be trained, and the head information is input into a visual computer to correspondingly generate a current visual image;
the visual computer provides three-dimensional landscape information of the visual in real time in cooperation with the head position information, and the three-dimensional landscape information is output to the head-mounted display through the 3D display card and presented to the trained personnel;
the operation action and effect of the trained personnel are scored through a computer evaluation system.
Furthermore, the vision computer simultaneously outputs a third eye position to the instructor station, and the instructor can control the flight conditions and parameters.
Furthermore, the teacher desk provides a driving rod, a mouse, a keyboard and a touch screen as control modes; the instructor can change the display scene, set the initial conditions, and the steering column can be used to change the viewing angle with the corresponding apparatus.
Furthermore, the instructor can set special conditions through the teaching and control console, so that the trainee can carry out special condition treatment training.
Further, the instructor's station may observe the trainee's overall process from the third eye position.
In addition, a plurality of the parachuting simulation training devices are used for connecting the main body frame to form a parachuting simulation training system.
In the hanging bracket and strap system, after the parachutist jumps out of the cabin, the flight direction is controlled by the control strap, the control sensor transmits control information into the computer, and the motion system is driven after operation, so that simulation dynamic feeling is provided. At the same time, the computer outputs the visual image to the head-mounted display, providing an immersive virtual environment. The instructor sets the initial conditions of the system through the instructor station and monitors the students.
The invention can ensure the training safety of the parachuting personnel, greatly shorten the training period, reduce the parachuting training cost and generate great military benefit, economic benefit and social benefit.
Drawings
FIG. 1 is a block diagram of the parachuting simulation training device of the present invention;
FIG. 2 is a block diagram of a parachute training system;
fig. 3 is a schematic flow chart of the parachuting simulation training method of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
the parachuting simulation training method is based on parachuting simulation training equipment which mainly comprises a hanging bracket system, a control system, a dynamic system, a visual system, a software system, a sound system, a command control system, an evaluation system and the like, as shown in the attached drawing 1.
The hanger system consists of a main body frame and a simulated cabin springboard, and the simulated cabin springboard meets the requirement that a trainee can step and jump off in situ. The hanging bracket system is an integral supporting structure of the parachuting simulation training system, bears the instantaneous acceleration impact overload of the free falling body of a parachutist, and is connected with the supporting control system and the dynamic system. The system has sufficient strength and rigidity and is easy to move, disassemble and install. The main body frame can be used independently, and can also be spliced into a group according to the training organization condition for use. Furthermore, the main body frame can adopt a weighted aluminum profile, an interface for installing the operating system and the moving system is reserved at the top, and an installation interface for monitoring the display is reserved at the front part.
The control system comprises a control load, a control sensor, a harness system and a control belt, and is arranged on the top of the hanger system through a connecting structure. The operation sensor is connected with an operation belt, and the tail end of the operation belt is provided with an operation ring. The participator pulls the control band to control and adjust the parachute to fly according to the visual scene, and the control load generates corresponding force feeling according to the control quantity and the control speed. As a preferred scheme, the harness system comprises two main suspension belts and four suspension belts for fixing the parachuting trainees, spring dampers and detectors are additionally arranged on the tops of the four suspension belts, so that a shaking feeling with the dampers is provided, and the direct manipulation action of the parachuting trainees on the harnesses is detected.
The dynamic system consists of motor, driver, frame structure, etc. and the computer controls the speed and acceleration of the motor in real time. The optimum number of motors corresponds to each harness connected to the harness system. The computer controls the rotation state of each motor, and simulates the motion states of the parachute such as up and down, left and right inclination, front and back inclination, bumping and the like. There are four possible motor drive schemes: direct current servo, alternating current servo, open loop stepping motor and closed loop stepping motor. The closed-loop stepping system integrates the advantages of servo and open-loop stepping, overcomes the defects of step loss, large power consumption, poor dynamic performance of acceleration and deceleration and unstable high-speed operation of the open-loop stepping system, and also overcomes the defects of complex parameter setting, jitter during standstill and high system cost of the servo system. Therefore, a closed-loop stepping motor is preferably used for driving, and a speed reducer with a proper speed reduction ratio (such as 5) is selected for matching.
The vision system comprises a 3D image adapter, a helmet display and the like, and provides a simulation parachuting training scene for the training personnel. The helmet-mounted display is provided with a high-precision 3-degree-of-freedom head tracker. The head-mounted display can display all-around visual images by using a head position tracking technology, and comprises upward observation of a parachute, downward observation of a landing field, left and right adjacent observation and the like.
The functions of the software system, the command control system, the evaluation system and the like are respectively completed by a computer, a computer interface and an instructor platform. The computer includes a host computer and a graphics computer. The main computer mainly completes parachute dynamics model, motion model, teaching console control, training scoring and signal acquisition. The graphics computer mainly completes the real-time generation of the visual images.
The software system mainly calculates the information needed by the motion system, the vision system and the command control system in real time according to the control information and the dynamic model of the parachute. The command control system is integrated in the teaching console and mainly completes the initial condition setting and the setting of the state, the circuit, the weather, the special situation and the like of the airplane. The state of each person participating in training is monitored, the second monitoring interface displays the visual image watched by each person participating in training, and the visual image of the third eye position can be provided. The evaluation system establishes an evaluation standard according to the course requirement, collects the operation action information of the trainee and gives a score as a comment reference.
The sound system is not shown in the figure, mainly provides airplane air flight noise simulation, airflow sound simulation and command communication, and mainly comprises a sound source, a power amplifier, an earphone, a teaching and control console microphone, a microphone and the like.
The basic working principle of the parachuting simulation training device is that a teacher sets system initial conditions through a teacher desk and monitors students; in the suspension and strap system, after a parachutist jumps out of a cabin, the flight direction is controlled by the control strap, the control sensor transmits control information into a computer, and the motion system is driven after operation to provide simulation dynamic feeling. At the same time, the computer outputs the visual image to the head-mounted display, providing an immersive virtual environment.
As shown in fig. 2, a network system can be used to network a plurality of parachuting simulation training devices in real time, and generally 8 to 16 parachuting simulation training devices can be selected as a group according to the requirement of a training organization, so as to form a parachuting simulation training system. The main body frames of the parachuting simulation training devices can be assembled and spliced into a whole.
The specific operations are implemented in the following order:
as shown in fig. 3, the trainees are hung on the rigid support, and the parachutists release the handles of the main parachute after queuing and taking out of the cabin, so as to drive the micro switches to simulate the release of the main parachute and directly open the parachute (the parachute opening process is omitted due to equipment limitation, and the simulation is only carried out in a visual system).
The trainees raise heads to check the parachute opening condition, if the parachute is normally opened, the trainees continue to observe the left and right neighbors, judge the wind direction and search a landing field, and then use the control ring to control the parachute, so that the parachute is accurately landed in the control process. The parachute information is fed back to the visual display system, and the parachute opening acceleration and landing acceleration are provided by the dynamic system.
The trainee pulls the braces or changes the center of gravity, and the force displacement sensor transmits signals into the computer to provide input for the motion model.
The left and right control rings are connected with sensors in the control load, measure the control direction and stress condition of the parachutist and transmit signals to the main computer and the view computer.
The dynamic system is matched with the vision system to provide corresponding simulation scene feeling. The main computer calculates in real time according to the physical model, the dynamic model and the environmental parameters of the parachute, sends the calculation result to the driving device of the dynamic system, and drives the sling motor to rotate, so that the trainee can feel the speed and the acceleration at the time in real time. The head position sensor tracks the head movement of the person to be trained, and the head position information is input into the visual computer to correspondingly generate a current visual image.
The visual computer provides three-dimensional landscape information of the visual in real time in cooperation with the head position information, and the three-dimensional landscape information is output to the head-mounted display through the 3D display card and presented to the trained personnel.
The vision computer outputs the third eye position to the instructor's station, and the instructor can control the flight condition and parameters.
The instructor's desk provides a joystick, a mouse, a keyboard, and a touch screen as control means. The instructor can change a display scene, set initial conditions, and the steering column can be used to change a viewing angle, etc. with the corresponding apparatus. The instructor can set up special circumstances through the teaching and control platform, makes the personnel of being trained carry out special circumstances and handles the training. If a special case (such as the abnormality of the main umbrella) is set, the trainee can quickly judge the special case type, can operate to separate from the main umbrella or delay the opening of the umbrella, and then continue the normal process. If no special situation occurs and the automatic parachute opening is set, the parachute is automatically opened at the set time. The instructor's station may also observe the trainee's overall process from the third eye position.
The operation and effect of the trainee can be scored through a computer evaluation system.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
The present invention is not limited to the above description of the embodiments, and those skilled in the art should, in light of the present disclosure, appreciate that many changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a parachuting simulation training equipment which characterized in that:
the system mainly comprises a hanging bracket system, a control system, a dynamic system, a visual system, a software system, a sound system, a command control system and an evaluation system;
the hanging bracket system is connected with the support control system and the dynamic system, is an integral support structure of the parachuting simulation training system, and bears the instant free falling acceleration impact overload of a parachutist;
the control system comprises a control load, a control sensor, a strap system and a control strap, and is arranged at the top of the hanger system through a connecting structure;
the dynamic system comprises a motor, a driving device and a frame structure, and the speed and the acceleration output by the motor are controlled by the computer in real time;
the vision system comprises a 3D image adapter and a helmet display;
the functions of the software system, the command control system and the evaluation system are respectively completed by a computer, a computer interface and a teacher desk;
the computer comprises a host computer and a graphics computer; the main computer mainly completes parachute dynamics model, motion model, teaching console control, training scoring and signal acquisition; the graphics computer mainly completes the real-time generation of the visual images.
2. A parachuting simulation training device according to claim 1, wherein:
the hanger system consists of a main body frame and a simulated cabin springboard.
3. A parachuting simulation training device according to claim 2, wherein:
the top of the main body frame is provided with an interface for installing the control system and the motion system, and the front part of the main body frame is provided with an installation interface for monitoring the display.
4. A parachuting simulation training device according to claim 1, wherein:
the strap system comprises two main straps for fixing the trainee and four suspension straps, wherein spring dampers and detectors are additionally arranged at the tops of the four suspension straps to provide damped shaking feeling and detect the direct operation action of the trainee on the main straps.
5. A parachuting simulation training device according to any one of claims 1 to 4, wherein:
a closed-loop stepping motor is adopted, and a speed reducer is selected for matching.
6. A parachuting simulation training device according to any one of claims 1 to 4, wherein:
the helmet-mounted display is provided with a high-precision 3-degree-of-freedom head tracker.
7. A parachuting simulation training method is based on the parachuting simulation training device of any one of claims 1 to 6, and the specific operations are implemented in the following order:
the trainees are hung on the rigid support, the main umbrella handle is released after queuing and taking out of the cabin, the release of the main umbrella is simulated, and the parachute is directly opened;
trainees raise heads to check the parachute opening condition, observe left and right neighbors, judge wind directions, search a landing field, and then use a control ring to control the parachute to accurately land in a landing process;
wherein,
parachute information is fed back to a visual display system, and parachute opening acceleration and landing acceleration are provided by a dynamic system;
the trainee pulls the braces or changes the gravity center, and transmits signals into a computer through a force displacement sensor;
the left and right control rings are connected with a sensor in a control load, measure the control direction and the stress condition of a parachutist and transmit signals to a main computer and a view computer;
the main computer calculates in real time according to the physical model, the dynamic model and the environmental parameters of the parachute, sends the calculation result to a driving device of the dynamic system, and drives a sling motor to rotate, so that the trainee can feel the speed and the acceleration at the moment in real time;
the head sensor tracks the head movement of the person to be trained, and the head information is input into a visual computer to correspondingly generate a current visual image;
the visual computer provides three-dimensional landscape information of the visual in real time in cooperation with the head position information, and the three-dimensional landscape information is output to the head-mounted display through the 3D display card and presented to the trained personnel;
the operation action and effect of the trained personnel are scored through a computer evaluation system.
8. A parachuting simulation training method according to claim 7, wherein:
the vision computer simultaneously outputs the third eye position to the instructor's station.
9. A parachuting simulation training method according to claim 8, wherein:
the teacher desk provides a control mode of a steering column, a mouse, a keyboard and a touch screen; the instructor can change the display scene, set the initial conditions, and the steering column can be used to change the viewing angle with the corresponding apparatus.
10. A parachuting simulation training method according to claim 8, wherein:
the instructor can set up special circumstances through the teaching and control platform, makes the personnel of being trained carry out special circumstances and handles the training.
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Cited By (6)
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| CN107490983A (en) * | 2017-09-29 | 2017-12-19 | 中国船舶重工集团公司第七〇四研究所 | A kind of emulation mode for simulating parachute jumping full experience |
| CN110136534A (en) * | 2019-06-29 | 2019-08-16 | 西安六韬信息科技有限公司 | A kind of parachutist's simulation trainer |
| CN110782731A (en) * | 2019-11-11 | 2020-02-11 | 北京华如科技股份有限公司 | Digital parachute harness system for parachute landing simulation training |
| CN112562446A (en) * | 2020-12-30 | 2021-03-26 | 中国人民解放军95829部队空降兵研究所 | Real sense parachuting simulation training ware based on virtual reality |
| CN113539003A (en) * | 2021-07-28 | 2021-10-22 | 中国人民解放军空军航空大学 | Virtual reality water parachute jumping simulation training implementation method and device |
| CN115180159A (en) * | 2022-06-22 | 2022-10-14 | 深圳威阿科技有限公司 | Control method, device and system for simulating parachute jumping and readable storage medium |
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